# Maximal Velocity on a linear path

**URL:** <https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650>\
**Category:** General Application Help: How do I?\
**Created:** [February 19, 2025, 7:57am UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650 "2025-02-19T07:57:36Z")\
**Posts on this page:** 8\
**Page:** 1

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**Author:** ![fulgencio.samudio](https://avatars.discourse-cdn.com/v4/letter/f/e9c0ed/32.png) [@fulgencio.samudio](https://forum.universal-robots.com/u/fulgencio.samudio)\
**Post date:** [February 19, 2025, 7:57am UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/1 "2025-02-19T07:57:36Z")

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I was experimenting with the robot and somehow I could not get past the 1 m/s velocity in a linear path. I tried doing a movej before a movel so that it can start accelerating and gaining velocity before it keeps accelerating and gaining velocity in the linear path.

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [February 19, 2025, 2:19pm UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/2 "2025-02-19T14:19:07Z")

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You might need to validate your speed / safety settings. You shouldn’t have to do anything fancy to try to trick the robot into moving faster.

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**Author:** ![fulgencio.samudio](https://avatars.discourse-cdn.com/v4/letter/f/e9c0ed/32.png) [@fulgencio.samudio](https://forum.universal-robots.com/u/fulgencio.samudio)\
**Post date:** [February 19, 2025, 2:39pm UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/3 "2025-02-19T14:39:15Z")

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Thanks Eric! It was really helpful!

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**Author:** ![fulgencio.samudio](https://avatars.discourse-cdn.com/v4/letter/f/e9c0ed/32.png) [@fulgencio.samudio](https://forum.universal-robots.com/u/fulgencio.samudio)\
**Post date:** [February 22, 2025, 12:20am UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/4 "2025-02-22T00:20:02Z")

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Hmm, still after having dealt with the safety settings I am not able to arrive to the target velocity I want to arrive, is there any recommendation to be able to arrive to velocities above 1.25 m/s, putting some joints working together in the same direction? A special kind of path that I have to follow? It is somehow breaking my head. I want to get between 1,5-2,0 m/s

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**Author:** ![efn](https://avatars.discourse-cdn.com/v4/letter/e/35a633/32.png) [@efn](https://forum.universal-robots.com/u/efn)\
**Post date:** [February 24, 2025, 2:09pm UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/5 "2025-02-24T14:09:23Z")

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Most likely because the robot is not built to go that fast. The UR robots are not fast robots such as industrial robots, and it will wear the robot more than intended when going that fast.

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**Author:** ![cg1](https://avatars.discourse-cdn.com/v4/letter/c/c77e96/32.png) [@cg1](https://forum.universal-robots.com/u/cg1)\
**Post date:** [February 24, 2025, 2:45pm UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/6 "2025-02-24T14:45:30Z")

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Have you dealt with all your safety settings?  
Both joint speed and tool speed?

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**Author:** ![fulgencio.samudio](https://avatars.discourse-cdn.com/v4/letter/f/e9c0ed/32.png) [@fulgencio.samudio](https://forum.universal-robots.com/u/fulgencio.samudio)\
**Post date:** [February 24, 2025, 3:01pm UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/7 "2025-02-24T15:01:22Z")

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I have, the problem is that I am not able to get the velocity of the tool at all moments, so I can not calculate the maximal velocity in the path. Also, any ideas to set a determined velocity in a certain point? how can I make myself sure that that velocity will be the one I desire?

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**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\
**Post date:** [February 24, 2025, 11:04pm UTC](https://forum.universal-robots.com/t/maximal-velocity-on-a-linear-path/38650/8 "2025-02-24T23:04:52Z")

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MoveP is for constant velocity applications. Be careful though as you will want to understand Blend radius, especially as it pertains with blending into a stop.

get\_actual\_tcp\_speed() is also a script command. Put that in a thread and write it to a variable (with some added logic) to keep a log of the highest speed the tcp experiences.